1. 太原师范学院
2. 山西职业技术学院
3. 西安交通大学人工智能学院
纸质出版:2025
移动端阅览
段震, 袁源, 李原, 等. 融合IGJO与TEB算法的移动机器人路径规划[J]. 传感器与微系统, 2025,(4):132-136.
段震, 袁源, 李原, 等. 融合IGJO与TEB算法的移动机器人路径规划[J]. 传感器与微系统, 2025,(4):132-136. DOI: 10.13873/J.1000-9787(2025)04-0132-05.
针对当前移动机器人路径规划中存在规划效率低、动态性差的问题,提出了一种融合改进金豺优化(IGJO)算法和时间弹性带(TEB)法的路径规划方法。首先,在IGJO算法种群初始化中,引入了Tent映射逆向学习,从而增强算法的寻优能力;其次,引入柯西突变,对最优解进行扰动和更新,从而提升算法的寻优精度。最后,引入TEB算法作为动态规划算法,帮助移动机器人避开移动障碍,同时结合IGJO算法,提升算法的综合规划性能。仿真结果表明:在不同仿真环境中IGJO-TEB算法相较其他算法在路径距离、运行时间两方面分别减短了1.37%~2.65%和10.26%~21.77%。真实场景实验果表明:本文算法能够在各类实际场景下完成路径规划任务,较其他算法具有显著的优越性。
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